TY - JOUR T1 - A generalization of Bellman's equation with application to path planning, obstacle avoidance and invariant set estimation JO - Automatica PY - 2021/05/01 AU - Jones M AU - Peet MM ED - DO - DOI: 10.1016/j.automatica.2021.109510 VL - 127 Y2 - 2025/05/23 ER -